version: 66.13
glider: 171
mission: 11
dive: 383
start: 10 22 119 14 16 49
data:
$ID,171
$MISSION,11
$DIVE,383
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,410
$T_MISSION,460
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53930
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00177828
$HD_B,0.019109501
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3600
$C_PITCH,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,350
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,3
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-152.46104
$PRESSURE_SLOPE,0.00010631012
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.63
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,53
$LOGGERDEVICE2,70
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044193882
$SEABIRD_T_H,0.00064798427
$SEABIRD_T_I,2.6719992e-05
$SEABIRD_T_J,3.3115991e-06
$SEABIRD_C_G,-9.8059483
$SEABIRD_C_H,1.1280893
$SEABIRD_C_I,-0.003824637
$SEABIRD_C_J,0.00035372932
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,221019,140930,944.7596,8657.3770,23,0.6,23,-1.2,0.2,9.3,12,3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.7
$GPS2,221019,141558,944.7921,8657.3564,2,0.6,2,-1.2,0.7,24.4,12,10.0
$SPEED_LIMITS,0.139,0.144
$TGT_NAME,R2
$TGT_LATLONG,930.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,176.5,27817,-18.5,-8.049,-29.14,1821
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.64,-97.3,118,2502,971,881,0.0,0.0,0,83,0.00,0.00,-71.62,0.005,16386,0.000,0.000,118,2502,2636,2638,2634,0,0,0,0,0,0,14.82,28.83,14.85
$GC,87,-0.64,-97.3,118,2502,2639,2634,5.2,-14.2,15,119,9.07,2.38,-13.65,0.009,18692,0.353,0.096,2103,3891,3366,3378,3354,0,0,0,0,0,0,14.07,13.54,14.48
$GC,198,-0.64,-97.3,2103,3891,3378,3353,44.6,-25.0,37,203,0.00,2.25,0.00,0.000,1030,0.000,0.037,2104,2500,3365,3378,3353,0,0,0,0,0,0,14.66,14.59,14.69
$GC,390,-0.64,-97.3,2103,2498,3378,3354,83.5,-14.6,58,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2498,3365,3378,3353,0,0,0,0,0,0,14.98,15.01,15.00
$GC,571,-0.64,-97.3,2103,2498,3379,3354,109.8,-15.0,76,575,0.00,2.30,0.00,0.000,516,0.000,0.050,2104,1090,3366,3379,3354,0,0,0,0,0,0,15.02,14.64,15.04
$GC,626,-0.64,-97.3,2104,1090,3379,3354,118.2,-14.6,87,630,0.00,2.38,0.00,0.000,1030,0.000,0.058,2092,2491,3366,3379,3354,0,0,0,0,0,0,14.71,14.59,14.74
$GC,812,-0.64,-97.3,2092,2491,3380,3353,146.8,-15.3,106,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2491,3367,3380,3354,0,0,0,0,0,0,15.05,15.08,15.07
$GC,992,-0.64,-97.3,2092,2491,3380,3354,174.2,-15.1,124,995,0.12,0.00,0.00,0.000,2054,0.239,0.000,2121,2491,3367,3380,3354,0,0,0,0,0,0,14.52,14.76,14.69
$GC,1172,-0.64,-97.3,2121,2491,3380,3353,198.4,-12.5,142,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2491,3366,3380,3353,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1352,-0.64,-97.3,2121,2491,3378,3353,217.6,-10.0,160,1356,0.00,2.42,0.00,0.000,260,0.000,0.086,2112,3905,3365,3378,3353,0,0,0,0,0,0,15.09,14.59,15.11
$GC,1388,-0.64,-97.3,2112,3904,3378,3353,221.4,-10.7,167,1392,0.00,2.28,0.00,0.000,1030,0.000,0.035,2112,2485,3365,3378,3353,0,0,0,0,0,0,14.81,14.75,14.83
$GC,1573,-0.64,-97.3,2112,2484,3376,3353,242.8,-12.3,186,1580,0.00,2.45,0.00,0.000,260,0.000,0.091,2102,3894,3364,3376,3353,0,0,0,0,0,0,15.10,14.56,15.13
$GC,1624,-0.64,-97.3,2101,3894,3376,3353,249.3,-13.3,196,1628,0.00,2.25,0.00,0.000,1030,0.000,0.045,2102,2511,3364,3376,3353,0,0,0,0,0,0,14.78,14.70,14.81
$GC,1814,-0.64,-97.3,2101,2510,3374,3353,274.7,-13.1,207,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2510,3363,3374,3353,0,0,0,0,0,0,15.11,15.15,15.14
$GC,2116,-0.64,-97.3,2101,2510,3370,3351,306.3,-9.7,222,2120,0.00,2.33,0.00,0.000,516,0.000,0.050,2102,1091,3360,3370,3351,0,0,0,0,0,0,15.11,14.69,15.14
$GC,2161,-0.64,-97.3,2101,1090,3370,3351,310.8,-9.5,231,2167,0.12,2.40,0.00,0.000,3078,0.216,0.060,2120,2508,3360,3370,3351,0,0,0,0,0,0,14.48,14.65,14.67
$GC,2473,-0.64,-97.3,2121,2508,3368,3347,338.6,-9.1,248,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2508,3357,3368,3347,0,0,0,0,0,0,15.13,15.16,15.15
$GC,2774,-0.64,-97.3,2120,2509,3367,3345,367.9,-10.0,263,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2509,3356,3366,3346,0,0,0,0,0,0,15.12,15.16,15.15
$GC,3073,-0.64,-97.3,2120,2508,3365,3343,396.1,-9.0,278,3077,0.00,2.38,0.00,0.000,260,0.000,0.086,2112,3891,3354,3365,3343,0,0,0,0,0,0,15.14,14.57,15.16
$GC,3144,-0.64,-97.3,2111,3891,3364,3343,402.6,-9.0,292,3148,0.00,2.25,0.00,0.000,1030,0.000,0.037,2112,2483,3353,3364,3343,0,0,0,0,0,0,14.81,14.74,14.83
$GC,3455,-0.64,-97.3,2112,2483,3362,3340,432.3,-10.1,309,3461,0.00,2.25,0.00,0.000,516,0.000,0.050,2112,1108,3351,3362,3340,0,0,0,0,0,0,15.13,14.64,15.15
$GC,3487,-0.64,-97.3,2111,1109,3362,3340,435.7,-10.3,315,3491,0.00,2.38,0.00,0.000,1030,0.000,0.062,2101,2501,3351,3362,3340,0,0,0,0,0,0,14.73,14.62,14.77
$GC,3798,-0.64,-97.3,2100,2501,3360,3338,469.0,-10.5,332,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2501,3349,3360,3338,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4097,-0.64,-97.3,2101,2501,3358,3336,498.8,-9.7,347,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2501,3347,3358,3337,0,0,0,0,0,0,15.14,15.17,15.16
$GC,4398,-0.64,-97.3,2100,2501,3357,3334,528.5,-10.4,362,4402,0.00,2.42,0.00,0.000,260,0.000,0.087,2090,3891,3345,3356,3335,0,0,0,0,0,0,15.13,14.52,15.16
$GC,4455,-0.64,-97.3,2089,3891,3356,3334,534.8,-11.2,373,4461,0.12,2.28,0.00,0.000,3078,0.211,0.044,2121,2503,3345,3356,3335,0,0,0,0,0,0,14.42,14.67,14.62
$GC,4759,-0.64,-97.3,2120,2502,3356,3333,564.3,-9.6,389,4764,0.00,2.33,0.00,0.000,516,0.000,0.051,2121,1096,3344,3355,3333,0,0,0,0,0,0,15.13,14.62,15.16
$GC,4786,-0.64,-97.3,2120,1096,3355,3333,566.9,-10.4,394,4793,0.00,2.40,0.00,0.000,1030,0.000,0.058,2112,2502,3343,3354,3332,0,0,0,0,0,0,14.70,14.58,14.74
$GC,5101,-0.64,-97.3,2111,2502,3353,3331,598.0,-9.9,412,5105,0.00,2.40,0.00,0.000,260,0.000,0.086,2101,3891,3342,3354,3331,0,0,0,0,0,0,15.12,14.50,15.15
$GC,5142,-0.64,-97.3,2101,3892,3353,3331,602.2,-10.2,420,5146,0.00,2.28,0.00,0.000,1030,0.000,0.037,2101,2483,3342,3353,3331,0,0,0,0,0,0,14.76,14.69,14.78
$GC,5463,-0.64,-97.3,2101,2481,3352,3330,634.8,-10.2,439,5467,0.00,2.28,0.00,0.000,516,0.000,0.051,2101,1104,3341,3352,3330,0,0,0,0,0,0,15.12,14.60,15.15
$GC,5509,-0.64,-97.3,2101,1104,3351,3330,639.6,-10.1,448,5514,0.12,2.40,0.00,0.000,3078,0.210,0.065,2120,2499,3340,3351,3330,0,0,0,0,0,0,14.38,14.56,14.58
$GC,5820,-0.64,-97.3,2120,2499,3351,3328,666.9,-8.6,465,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2499,3339,3351,3328,0,0,0,0,0,0,15.13,15.16,15.15
$GC,6121,-0.64,-97.3,2120,2499,3349,3327,692.7,-8.7,480,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2499,3338,3350,3327,0,0,0,0,0,0,15.12,15.16,15.15
$GC,6420,-0.64,-97.3,2120,2499,3349,3326,720.2,-9.3,495,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2499,3337,3348,3326,0,0,0,0,0,0,15.13,15.16,15.16
$GC,6721,-0.64,-97.3,2120,2499,3347,3325,747.8,-9.0,510,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2499,3336,3348,3325,0,0,0,0,0,0,15.13,15.16,15.16
$GC,7021,-0.64,-97.3,2120,2499,3347,3323,774.6,-8.9,525,7026,0.00,2.45,0.00,0.000,260,0.000,0.089,2111,3897,3335,3346,3324,0,0,0,0,0,0,15.12,14.42,15.15
$GC,7048,-0.64,-97.3,2111,3897,3346,3324,777.2,-9.8,530,7052,0.00,2.28,0.00,0.000,1030,0.000,0.037,2111,2493,3334,3346,3323,0,0,0,0,0,0,14.72,14.65,14.74
$GC,7365,-0.64,-97.3,2111,2491,3345,3322,806.8,-9.3,548,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2491,3334,3346,3322,0,0,0,0,0,0,15.11,15.15,15.14
$GC,7664,-0.64,-97.3,2111,2491,3344,3321,834.3,-9.0,563,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2491,3332,3344,3321,0,0,0,0,0,0,15.12,15.16,15.15
$GC,7964,-0.64,-97.3,2111,2491,3343,3321,860.6,-8.6,578,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2491,3332,3344,3321,0,0,0,0,0,0,15.12,15.15,15.14
$GC,8265,-0.64,-97.3,2111,2491,3343,3320,886.6,-8.6,593,8267,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2491,3331,3343,3320,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8564,-0.64,-97.3,2111,2491,3341,3320,912.9,-8.8,608,8568,0.00,2.33,0.00,0.000,516,0.000,0.052,2111,1106,3331,3342,3320,0,0,0,0,0,0,15.12,14.51,15.15
$GC,8595,-0.64,-97.3,2111,1104,3342,3320,915.7,-9.4,614,8602,0.00,2.45,0.00,0.000,1030,0.000,0.070,2100,2502,3331,3342,3320,0,0,0,0,0,0,14.58,14.45,14.63
$GC,8906,-0.64,-97.3,2100,2502,3341,3319,943.9,-9.0,631,8910,0.00,2.47,0.00,0.000,260,0.000,0.090,2089,3897,3330,3341,3319,0,0,0,0,0,0,15.11,14.36,15.14
$GC,8942,-0.64,-97.3,2089,3897,3341,3319,947.4,-9.7,638,8947,0.12,2.30,0.00,0.000,3078,0.207,0.038,2120,2490,3330,3341,3319,0,0,0,0,0,0,14.31,14.59,14.49
$GC,9247,-0.64,-97.3,2119,2488,3341,3318,971.4,-7.7,654,9251,0.00,2.35,0.00,0.000,516,0.000,0.052,2120,1100,3329,3341,3317,0,0,0,0,0,0,15.11,14.50,15.14
$GC,9279,-0.64,-97.3,2119,1100,3341,3317,974.0,-8.0,660,9286,0.00,2.45,0.00,0.000,1030,0.000,0.063,2111,2508,3328,3340,3317,0,0,0,0,0,0,14.57,14.45,14.62
$STATE,9485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9485,begin apogee
$GC,9492,-0.15,0.0,2111,2428,3340,3317,991.0,-8.0,672,9586,0.57,0.00,88.55,2.010,10246,0.163,0.000,2276,2428,2967,2997,2938,0,0,0,0,0,0,14.21,14.14,13.03
$STATE,9587,end apogee,CONTROL_FINISHED_OK
$STATE,9587,begin climb
$GC,9591,0.64,97.3,2276,2428,2996,2938,993.2,0.0,677,9701,0.80,2.40,100.05,2.000,10756,0.096,0.049,2550,1058,2570,2599,2541,0,0,0,0,0,0,14.20,13.73,12.89
$GC,9718,0.69,147.7,2550,1058,2595,2540,990.4,5.2,697,9777,0.00,2.47,51.03,1.969,9254,0.000,0.056,2550,2451,2364,2400,2328,0,0,0,0,0,0,14.19,14.12,12.65
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$STATE,20480,end climb,SURFACE_DEPTH_REACHED
$STATE,20480,begin surface coast
$STATE,20516,end surface coast,CONTROL_FINISHED_OK
$STATE,20516,begin surface
$SM_CCo,20536,104.50,0.599,1,0,928,500.17
$SM_GC,1.38,7.20,0.10,104.50,0.056,0.154,0.599,117,2514,928,-6.77,-0.85,500.17,0,0,0,0,1,0,14.66,14.61,13.90
$IRIDIUM_FIX,944.65,8700.50,221019,080059
$TT8_MAMPS,0.018725,0.159537
$HUMID,44.32
$INTERNAL_PRESSURE,9.54636
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,12.65,139.790
$10V_AH,11.62,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.700,165.200,462.900,104.500,0.000,0.000,0.000,257.075,0.250,0.000,15.653,1551.378,15705.207,698.428,2670.257,405.579,0.000,2301.842,0.000,2392.734,0.000,0.541,0.000
$DEVICE_MAMPS,352.665,153.765,2010.420,598.995,0.000,0.000,0.000,175.185,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,918.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,251180
$DATA_FILE_SIZE,73286,1683
$CAP_FILE_SIZE,187672,0
$CFSIZE,260034560,152342528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.049,295.97,1
$GPS,221019,200200,943.284,8656.902,25,0.7,25,-1.2,0.4,231.2,12,3.2